A Heuristic Algorithm for the Double Integrator Traveling Salesman Problem

We consider a double integrator which has to visit a set of given points at minimum travel time. In this work a simple transformation of the original problem into a generalized traveling salesman problem is proposed. This transformation is based on a discretization of sets of admissible visiting velocities. To solve time-optimal two-point problems, we use the duality of optimal control problems and convex programming.